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app.py

@@ -144,6 +144,7 @@ def pointcloud_to_mesh_glb_bytes(points: np.ndarray, colors: np.ndarray) -> byte
     export as GLB with vertex colors.
     """
     print("Building mesh from point cloud for GLB export")
+
     # Optional: downsample for speed
     max_points = 50000
     if points.shape[0] > max_points:
@@ -159,7 +160,23 @@ def pointcloud_to_mesh_glb_bytes(points: np.ndarray, colors: np.ndarray) -> byte
     pcd.points = o3d.utility.Vector3dVector(pts_ds.astype(np.float64))
     pcd.colors = o3d.utility.Vector3dVector((cols_ds / 255.0).astype(np.float64))
 
+    # --- NEW: estimate normals ---
+    print("Estimating normals...")
+    pcd.estimate_normals(
+        search_param=o3d.geometry.KDTreeSearchParamKNN(knn=30)
+    )
+    # Or radius-based:
+    # pcd.estimate_normals(
+    #     search_param=o3d.geometry.KDTreeSearchParamHybrid(
+    #         radius=0.05, max_nn=30
+    #     )
+    # )
+
+    # Optional: orient normals consistently (helps Poisson)
+    pcd.orient_normals_consistent_tangent_plane(orientation_k=30)
+
     # Poisson reconstruction
+    print("Running Poisson reconstruction...")
     mesh, densities = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(
         pcd, depth=8
     )
@@ -183,11 +200,13 @@ def pointcloud_to_mesh_glb_bytes(points: np.ndarray, colors: np.ndarray) -> byte
         raise RuntimeError("Mesh reconstruction failed; got empty mesh")
 
     # Transfer colors from original (downsampled) cloud to mesh vertices
+    print("Transferring vertex colors...")
     pcd_tree = o3d.geometry.KDTreeFlann(pcd)
     vert_colors = []
+    pcd_colors_np = np.asarray(pcd.colors)
     for v in verts:
         _, idx, _ = pcd_tree.search_knn_vector_3d(v, 1)
-        vert_colors.append(np.asarray(pcd.colors)[idx[0]])
+        vert_colors.append(pcd_colors_np[idx[0]])
     vert_colors = np.stack(vert_colors, axis=0)  # (V,3) in [0,1]
 
     # Convert to trimesh for GLB export
@@ -203,7 +222,6 @@ def pointcloud_to_mesh_glb_bytes(points: np.ndarray, colors: np.ndarray) -> byte
         glb_bytes = glb_bytes.encode("utf-8")
     return glb_bytes
 
-
 def infer_and_export_files(image: np.ndarray):
     if image is None:
         raise gr.Error("Please upload an image.")